US4532869A - Pallet conveying system - Google Patents

Pallet conveying system Download PDF

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Publication number
US4532869A
US4532869A US06/423,375 US42337582A US4532869A US 4532869 A US4532869 A US 4532869A US 42337582 A US42337582 A US 42337582A US 4532869 A US4532869 A US 4532869A
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United States
Prior art keywords
pallet
driving shaft
axis
guide rails
locking
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Expired - Fee Related
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US06/423,375
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English (en)
Inventor
Hirokazu Kondo
Shigekatsu Takino
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Tsubakimoto Chain Co
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Tsubakimoto Chain Co
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Assigned to TSUBAKIMOTO CHAIN CO. reassignment TSUBAKIMOTO CHAIN CO. ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: KONDO, HIROKAZU, TAKINO, SHIGEKATSU
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
    • B65G35/063—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path the traction element being a rotating bar or tube

Definitions

  • This invention relates to a pallet conveying system suitable for automatically attaching parts to a lightweight base plate or chassis.
  • a lightweight base plate adapted to be incorporated into an electric apparatus such as a television set or stereophonic unit or to the body of a mechanical apparatus such base plate or body is normally mounted on a pallet and is conveyed.
  • the pallet is stopped at an assembly station, necessary parts are attached manually or with robots to the base plate or body mounted on the pallet, then the pallet carrying the base plate or body is conveyed to the next assembly station, and then similar assembling processes are repeated while the pallet is conveyed along pallet guide rails.
  • the pallet conveying passages employed in such an assembling process are formed in a closed passage or loop consisting of a conveying side along which the pallet is moved and stopped for assembling works and a return side along which empty pallets are returned, which sides are connected at the respective opposite ends by lifters, traversers and/or turntables.
  • a plurality of assembling stations are arranged along the pallet conveying passage.
  • Automatic assembly robots or assemblers are positioned at the assembling stations.
  • the pallet has to be stopped at each assembling station until the assembling work is completed.
  • the positioning accuracy in stopping a pallet carrying the body is as severe as 50 ⁇ or below.
  • the shock on the pallet during starting and during stopping must be mitigated to the minimum possible degree.
  • the pallet conveying system has to be provided with both a collision preventing function to prevent the collision of the following pallet against the preceding pallet when the preceding pallet is stopping and a pallet reserving function.
  • the collision preventing and pallet reserving functions are also necessary for the pallet return passage.
  • the conventional pallet conveying system employed in incorporating parts to a lightweight base plate or body execute pallet conveyance advantageously by means of frictional driving, which is operated simply for starting and stopping the pallet and is capable of causing less shock on the pallet during starting and stopping.
  • the frictional driving system includes a long rotary shaft disposed along the pallet guiding rails and a driven roller attached to the underside of the pallet so as to be controlled in respect of the swiveling angle and to be pressed against the circumference of the rotary shaft.
  • This arrangement is capable of easily starting and stopping the pallet by simply controlling the inclination of the driven roller relative to the rotary shaft and, since the driven roller is driven by the rotary shaft through frictional engagement, such system is advantageous in that less shock is imposed on the pallet during starting and stopping.
  • this frictional engagement has disadvantages in that the accuracy of stopping the pallet at a fixed position is reduced, the initial starting motion is delayed, the accuracy of stopping the pallet at a fixed position is further reduced due to displacement of the stopping pallet from the correct stopping position caused by collision of the following pallet against the preceding pallet from behind owing to the incapability of absorbing the inertia of the following pallet, and thus the robotization of an automatic assembling system is impossible.
  • the pallet of the abovementioned patent publication has a front lever guiding cam extending rearward from the rear end thereof and is not provided with a rear lever which is similar to the front lever, and therefore collision prevention and reservation of the pallet in the return passage are impossible.
  • This invention has been made to eliminate those disadvantages of the conventional pallet conveying system and to provide a pallet conveying system provided with new functions such as block control of the pallet, efficient supply of conveyance controlling power and improved assembling efficiency through provision of increased number of automatic assembling stations.
  • An embodiment of the present invention will be described hereunder with reference to accompanying drawings.
  • FIG. 1 is a perspective view of the essential part of the pallet conveying system
  • FIG. 2 is a perspective view of the underside of the pallet
  • FIG. 3 is a sectional view of the joint of the driving shafts
  • FIG. 4 is a perspective view of the pallet stopping and positioning mechanism
  • FIG. 5 is a plan view of the pallet stopping and positioning mechanism
  • FIG. 7 is a plan view of the turntable mechanism of FIG. 6,
  • FIG. 8 is a plan view of an exemplary layout of the pallet conveying line embodying the present invention.
  • FIG. 9 is a perspective view of the turntable in a state before turning
  • FIG. 10 is a perspective view of the same turntable in a state during turning.
  • FIG. 11 is a perspective view of the same turntable in a state after the completion of turning.
  • a pallet conveying system according to the present invention has pallets 10, a pallet conveying mechanism 30, pallet positioning mechanisms 50, turntable mechanisms 70 and a power supply mechanism 90.
  • a plurality of wheels 12 are provided at the corners of the underside of the pallet 10.
  • Two pairs of guide rollers 13 and 13' are provided on one side of the front and rear ends of the underside of the pallet so as to receive one of a pair of guide rails 33 and 33' (FIG. 1), on which the wheels 12 roll, between each pair of guide rollers 13 and 13', for guiding the pallet 10 along the guide rails.
  • a stop pin 14 for stopping the pallet is disposed in the middle of the underside of the pallet.
  • a locking pin or locking pins 15 and a sensing member or sensing members LS i.e., limit switches
  • the guide rollers 13 and 13' are provided on only one side of the front and rear ends of the pallet, smooth running of the pallet is allowed irrespective of any error in the space between the guide rails. Therefore, increased accuracy of the space between the guide rails is not necessary.
  • a driven roller 16 held by a swivel plate 17 adapted to swivel together with the driven roller 16 about a vertical axis is disposed near the stop pin 14.
  • One or two cam pins 18 and 18' symmetrically positioned are provided on the swivel plate 17.
  • Levers 19 and 19' are pivotally attached to the front and rear ends, respectively, of the underside of the pallet 10 and are linked by means of connecting rods 20 and 20', respectively, to the swivel plate 17 at diametrically opposite positions thereon.
  • Blocklike pushing member 22 and 22' for pushing the levers 19 and 19', respectively, of leading or trailing pallets are fixedly attached to the front and rear ends, respectively, of the pallet 10 so as to protrude outward from the pallet body.
  • Provision of the connecting rods 20, 20' and the pushing members 22, 22' each of the same construction on the front and rear ends of the pallet 10 allows the same functions both in the forward and rearward movements of the pallet.
  • Such a coupling device has no projection at the joint of the sectional shafts, which is impossible in a conventional flange coupling device, and thus allows smooth movement of the driven roller of the pallet from one sectional shaft to the next.
  • the circumference of the driven roller 16 of the pallet is pressed against the pallet driving shaft 34 so that a rotary power is transmitted from the pallet driving shaft 34 to the driven roller 16.
  • a component of the driving force of the pallet driving shaft 34 is transmitted to the driven shaft 16 and causes the pallet 10 to advance forward.
  • the pallet positioning mechanism 50 is provided to improve the accuracy of robotized assembling operation by accurately stopping the pallet 10 at the assembling station where predetermined parts are attached to the base plate or the like as mounted on the pallet.
  • FIGS. 4 and 5 are detail views of the pallet positioning mechanism 50.
  • the pallet positioning mechanism 50 has a pallet stopping plate 55 disposed between the pallet guide rails 33 and 33' and adapted to be turned on a vertical shaft 51 by means of a power cylinder 52. Plate 55 mounts thereon a stopper 53 which is protrudable into the path of the stop pin 14 of the pallet 10.
  • a cam surface 54 on plate 55 is adapted to retractably enter into the path of the cam pin 18 protruding from the swiveling plate 17 to turn the swiveling plate 17 by pushing the cam pin 18 to turn the axis of rotation of the driven roller 16 to a direction near parallel to the axis of the pallet driving shaft 34 so that a small part of the driving force of the pallet driving shaft 34 is transmitted to the driven roller 16 of the pallet 10.
  • Mechanism 50 also has a positioning plate 60 adapted to be turned on a vertical shaft 56 provided on the stopping plate 55.
  • This positioning plate 60 has a first cam surface 58 urged by a spring 57 so as to protrude into the path of the stop pin 14 of the pallet so that the stop pin 14 engages the cam surface 58 to push the positioning plate 60 against the resilient force of the spring 57 to move the cam surface 58 out of the path of the stop pin 14, and a second curved cam surface 59 for pressing the stop pin 14 against the stopper 53 and simultaneously urging the stop pin 14 toward the guide rail 33'.
  • the stop pin 14 of the pallet 10 is kept pressed against the stopper 53 with a small forward-driving force transmitted from the pallet driving shaft 34 to the driven roller 16 and is kept held between the curved cam surface 59 and the stopper 53 with the action of the curved cam surface 59. Therefore, there is no possibility of the pallet 10 moving in the reverse direction, and accurate longitudinal positioning of the pallet is attained by means of the stopper 53.
  • the stop pin 14 is pressed toward the guide rail 33' by the force of the spring 57 acting through the curved cam surface 59, and the pallet 10 is pressed toward the guide rail 33' by the reactive force of the cam pin 18 of the swiveling plate 17 being pressed against the cam surface 54 of the stopping plate 55 by the force of the spring 21, the inner guide rollers 13' as provided at the front and rear ends of the pallet are pressed against the inside surface of the guide rail 33', whereby accurate lateral positioning of the pallet is attained on the basis of the inside surface of the guide rail 33'.
  • a locking device 61 is attached to the outside surface of the guide rail 33' at the pallet stopping position as shown in FIG. 4.
  • a locking lever 63 which is swingable on a horizontal lateral shaft 62 attached to the outside surface of the guide rail 33', is joined at the lower end thereof to the free end of the piston rod of a locking power cylinder (not shown) which is controlled by a command signal, and is also provided with a V-shaped groove 64 formed in the upper end thereof for engaging the locking pin 15 provided on the side of the pallet 10.
  • the locking power cylinder is actuated to swing the locking lever 63 to engage the locking pin 15 in the groove 64 so that the pallet 10 will not be displaced by an external force during the assembling operation.
  • the pallet 10 is conveyed by being driven by the driving shaft 34 along the guide rails 33 and 33'.
  • the pallet 10 arrives at an assembling position, the pallet 10 is stopped accurately at a fixed position by the function of the pallet positioning mechanism 50, which is operated by the power cylinder 52 actuated by a command signal, then a robot (not shown) disposed beside the guide rail is actuated by a pallet stop detection signal to execute a predetermined assembling operation according to a computer program.
  • the roller attached to the free end of the lever 19 which projects from the front end of the following pallet comes into contact with the pushing member 22' projecting from the rear end of the preceding pallet.
  • the turning of the swiveling plate 17 on the following pallet causes the axis of rotation of the driven roller 16 to change from the diagonal position with respect to the pallet driving shaft 34 to a reversely diagonal position past the parallel position.
  • the length of rearward projection of the pushing member 22' or the length of forward projection of the lever 19 is adjusted so that the position of the axis of rotation of the driven roller 16 of the following pallet is changed to the reversely diagonal position with respect to the axis of the pallet driving shaft 34 immediately before the front end of the following pallet comes into contact with the rear end of the stopped preceding pallet.
  • Turntable mechanisms 70 are installed at the opposite ends of a pallet relaying line 100 for connecting the assembling and pallet conveying lines.
  • FIGS. 6 to 11 are detail views of the turntable mechanisms 70.
  • a vertical rotary shaft 72 supporting the turntable 71 is rotatably received in a post 73 at the intersecting point of the respective centerline axis of an assembling and conveying line L1 and the relaying line L3 or 100.
  • Relaying line 100 is arranged perpendicular to the assembling and conveying line L1 and L2.
  • Changeover rails 74 and 74' are mounted on the turntable 71 so as to be connected to and separated from the pallet guide rails 33, 33'. Front and rear cross beams 75, 75' extend between the changeover rails 74 and 74' at the underside thereof.
  • a changeover driving shaft 76 adapted to be connected to and separated from the driving shafts 34 extends between and is mounted on the cross beams 75 and 75'.
  • the changeover driving shaft 76 is driven through a belt 78 by a motor 77 attached to the rear cross beam 75'.
  • a channel member 79 is disposed between the turntable 71 and the front cross beam 75 in alignment with a line which passes through the vertical rotary shaft 72 and is parallel to the changeover rails 74 and 74'.
  • the free end of a swing lever 81 as fixed on the shaft of a reduction gear motor 80 fixed to the post 73 is fitted in the elongated channel of the channel member 79 for free sliding motion therealong.
  • the swing lever 81 is disposed so as to be perpendicular to the channel of the channel member 79 when the changeover rails 74 and 74' are aligned with either the guide rails 33 and 33' of the conveying line or the guide rails 33a and 33b of the relaying line.
  • a turning control mechanism for the turntable 71 will be described hereunder.
  • a limit switch LS-4 is mounted at the rear end of the changeover rail 74' and is actuated by the pallet after transference of the pallet 10 to the changeover rails 74 and 74' has been completed.
  • a limit switch LS-5 is provided at a fixed position at the starting end of the guide rail 33b of the relaying line to detect the delivery of the pallet from the changeover rails 74 and 74'.
  • the power cylinder 84 for operating the stopping plate 83 will not operate if the reception turn completion detecting limit switch LS-2 is closed indicating that the changeover rails 74 and 74' are aligned with rails 33 and 33'.
  • the transfer completion detecting limit switch LS-4 is opened and the motor 77 turns in the normal direction to turn the changeover driving shaft 76 in a direction the same with that of the rotation of the driving shaft 34.
  • the pallet 10 is moved onto the changeover rails 74 and 74', closes the transference completion detecting limit switch LS-4 so that the motor 77 is stopped, and stops when it comes in contact with the stopping member 82.
  • the reduction gear motor 80 is started to turn the swing lever 81 in a counterclockwise direction in FIG. 7 causing the free end of the swing lever 81 to move leftward within the channel of the channel member 79. Consequently, the turntable 71 is turned in a counterclockwise direction on the vertical rotary shaft 72.
  • the reduction gear motor 80 is stopped when the sending turn completion detecting limit switch LS-3 is closed by engagement with the rear end of the changeover rail 74, whereby the changeover rails 74 and 74' and the guide rails 33a and 33b of the relaying line are aligned, and this then actuates the motor 77 to turn in the reverse direction which is the same as that of the driving shaft 34' of the relaying line 100. Consequently, the pallet 10 is transferred from the changeover rails 74 and 74' onto the guide rails 33a and 33b of the relaying line.
  • the delivery detecting limit switch LS-5 When the delivery detecting limit switch LS-5 is actuated by the pallet 10 as it passes the limit switch LS-5, the motor 77 is stopped and the reduction gear motor 80 is actuated to turn in the reverse direction so that the turntable 71 is turned in a clockwise direction through the clockwise turning of the swing lever 81.
  • the changeover rails 74 and 74' and the guide rails 33 and 33' of the assembling and conveying line are again aligned, the changeover rail 74' actuates the reception turn completion detecting limit switch LS-2 to stop the reduction gear motor 80.
  • the power cylinder 84 operates in reverse to retract the stopping plate 83, whereby the axis of rotation of the driven roller 16 is turned to the diagonal position with respect to the axis of the driving shaft 34 by the force of the spring 21, and consequently the pallet advances onto the changeover rails 74 and 74'.
  • the pallet 10 is transferred from the relaying line 100 onto the turntable, then the pallet 10 closes the transfer completion detecting limit switch LS-4' to stop the motor 77, comes into contact with the stopping member 82 and stops and then, the reduction gear motor 80 is started to turn the swing lever 81 in a counterclockwise direction in FIG. 7 so that the turntable is turned in a counterclockwise direction.
  • the pallet 10 is sent out from the changeover rails 74 and 74' of the turntable onto the guide rails 33 and 33' of the assembling and conveying line L2.
  • the motor 77 is stopped when the sending completion detecting limit switch LS-5' is closed by the pallet when it passes the limit switch, while the reduction gear motor 80 is actuated to turn in the reverse direction to turn the swing lever 81 in a clockwise direction, whereby the turntable 71 is turned in a clockwise direction.
  • the changeover rails 74 and 74' are aligned with the guide rails 33a and 33b of the relaying line 100, the changeover rail 74 closes the reception turn completion detecting limit switch LS-2' to stop the reduction gear motor 80.
  • the length of the relaying line 100 is as long as is sufficient to reserve or support a single pallet in order to avoid excessive space between the parallel assembling and conveying lines L1 and L2 as well as to save the required floor space of the conveying system.
  • a sending turn withholding limit switch LS-6 for withholding generation of the sending turn (counterclockwise turning) completion signal of the upstream (i.e., right-hand) turntable is provided at the waiting position adjacent to the pallet arrival detecting limit switch LS-1' to withhold the sending turn operation of the upstream turntable while one pallet is reserved in the relaying line 100, even if the upstream turntable has received a pallet from the assembling and conveying line and the transfer operation has been completed.
  • the reduction gear motor 80 of the upstream (i.e., right-hand) turntable will not start even if the transfer completion detecting limit switch LS-4 is closed, because the sending turn withholding switch LS-6 is closed by the pallet on line 100.
  • the waiting position is vacant, since the sending turn withholding limit switch LS-6 is open, the reduction gear motor 80 of the upstream turntable is started when the transfer completion detecting limit switch LS-4 is closed to turn the upstream turntable to the sending-out position.
  • reservation of the pallet in the relaying line 100 is limited automatically to a single pallet.
  • FIG. 8 shows the layout of an automatic assembly line in which the pallets circulate in a closed circuit.
  • the respective starting ends and ending ends of two parallel assembly lines L1 and L2, each being adapted to convey the pallets in the opposite direction with respect to the other, are connected by relaying lines L3 and L4.
  • Turntable mechanisms 70a, 70b, 70c and 70d as described hereinbefore are disposed at the junctions of those lines.
  • Assembling robots R1, R2, R3, R4, R5 and R6 are installed at the assembling stations of the automatic assembly lines L1 and L2.
  • a computer-aided program-controlled pallet stopping and positioning mechanism 50 is disposed in front of each of the assembling robots R1 to R6.
  • the relaying lines L3 and L4 are connected perpendicularly to the assembly lines L1 and L2 to form a T-shaped or cross-shaped layout.
  • the stopping member 82 provided at the ending end of the changeover rail of the turntable has to be retractable with respect to the corresponding changeover rail.
  • a power cylinder is provided for projecting and retracting the stopping member 82.
  • the pallet can be transferred to the relaying lines or allowed to be conveyed past the turntable corresponding to the layout of the pallet conveying lines.
  • FIGS. 9 to 11 are explanatory perspective views for facilitating the explanation of the turning motion of the turntable mechanism 70a of FIG. 8, wherein FIG. 9 shows the state before turning, FIG. 10 shows the state during turning and FIG. 11 shows the state after completion of turning.
  • the power supply mechanism 90 will now be described hereunder with reference to FIG. 1.
  • Electric wiring for the control system is laid within the base frame 31. Part of the wiring is laid in the hollows of the posts 32. Control switches 91 for starting and stopping motors M for driving the sectional driving shafts 34 are attached to the posts 32. Part of the wiring is connected to a current collecting rail 92 extending along the underside of the guide rails and supported by the posts 32. Sockets S are provided on the current collecting rail 92 to facilitate electric power supply to the related equipment installed beside the conveying line.
  • a compressed air supply piping 93 and a discharge piping 94 extend along the base frame 31 and are held by the posts 32 at the lower part thereof.
  • the pipings 93 and 94 are connected to the power cylinders 52 of the pallet stopping and positioning mechanisms 50 through switching valves 95 and 95' attached to the outside surface of the guide rail 33.
  • a control box for simultaneously controlling all the electric power supply system and the air supply system is provided on the housing 96 of the turntable mechanism 70.
  • Operation of the sectional driving shafts and the stopping and positioning mechanisms is controlled sectionally by operating the corresponding control switches 91 and switching valves 95 and 95'.
  • the control box controls the integral conveying line.
  • a base plate of a television set is mounted on a pallet 10 and positioned over one of the holes 10a by means of a jig 11 while parts to be attached to the base plate are mounted on the pallet and positioned over the other hole 10b by means of a jig 11,
  • the pallet 10 is driven by the driving shaft 34 to move along the automatic assembly line
  • the pallet is stopped and accurately positioned by the stopping and positioning mechanism 50 at an assembling station
  • the parts are attached to the base plate by the assembling robot R in the program-controlled order
  • the pallet is advanced again through the reverse operation of the pallet stopping and positioning mechanism 50 to the next assembling station where the pallet is stopped and positioned again by means of the corresponding stopping and positioning mechanism and the parts are assembled in the similar manner.
  • Such assembling and advancing operations are repeated and finally the pallet is transferred to the next assembly line by the turntable mechanism 70.
  • the sectional driving shaft 34 of the corresponding section is stopped through operation of the corresponding control switch 91 to treat the accident.
  • the following pallets stop automatically and successively through the function of the levers 19 and 19' projecting from the front and the rear ends, respectively, of each pallet.
  • the employment of the pallet conveying system of the present invention thus makes possible robotized and continuous assembling process, improvement of assembling accuracy and effectively limiting the excessive floor space of the integral assembling system.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Special Conveying (AREA)
  • Attitude Control For Articles On Conveyors (AREA)
  • De-Stacking Of Articles (AREA)
US06/423,375 1982-08-24 1982-09-24 Pallet conveying system Expired - Fee Related US4532869A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP57-14557 1982-08-24
JP57145557A JPS5934972A (ja) 1982-08-24 1982-08-24 パレツト搬送装置

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US4532869A true US4532869A (en) 1985-08-06

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US06/423,375 Expired - Fee Related US4532869A (en) 1982-08-24 1982-09-24 Pallet conveying system

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US (1) US4532869A (enrdf_load_stackoverflow)
JP (1) JPS5934972A (enrdf_load_stackoverflow)

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DE3411452A1 (de) * 1983-03-29 1984-10-04 Stiwa Fertigungstechnik Sticht GmbH, Attnang-Puchheim Foerdereinrichtung fuer werkstuecke bzw. werkstuecktraeger, insbesondere fuer eine montagemaschine
US4662282A (en) * 1985-03-13 1987-05-05 Hitachi Kiden Kogyo Kabushiki Kaisha Switching device for pneumatic conveyance linear motor actuated
FR2620993A1 (fr) * 1987-09-30 1989-03-31 Sgn Soc Gen Tech Nouvelle Dispositif de transfert de produits a irradier, en particulier de produits alimentaires
WO1989002805A1 (en) * 1987-10-03 1989-04-06 Albert Zimmer Rail system for conveying assemblies
US4838171A (en) * 1987-03-13 1989-06-13 Tsubakimoto Chain Co. Frictionally driven roller type transfer apparatus
FR2635062A1 (fr) * 1988-06-29 1990-02-09 Heico Inc Systeme de support sur voie
US4922831A (en) * 1988-06-29 1990-05-08 Heico Inc. Lightweight car-on-track system
US4964343A (en) * 1987-07-15 1990-10-23 Tsubakimoto Chain Co. Pallet in frictionally driven roller type transfer apparatus
US5007783A (en) * 1988-06-02 1991-04-16 Alps Electric Co., Ltd. Positioning apparatus for an automatic carrier system
EP0424562A1 (de) * 1989-10-25 1991-05-02 Dieter Weiss Palettenwechsler für einen linearen Horizontalförderer
US5668452A (en) * 1996-05-09 1997-09-16 Vlsi Technology, Inc. Magnetic sensing robotics for automated semiconductor wafer processing systems
US20070186799A1 (en) * 2006-02-14 2007-08-16 Asyst Shinko, Inc. Direction change device
US20080240894A1 (en) * 2007-03-29 2008-10-02 Eric Reisenauer Storage and retrieval system
US20080240900A1 (en) * 2007-03-29 2008-10-02 Eric Reisenauer System for storage and retrieval
US20100044188A1 (en) * 2008-08-25 2010-02-25 Hyundai Motor Company Moving cart system
US20110125307A1 (en) * 2009-11-20 2011-05-26 Craig Alexander Dickson Product assembly system and control software
US20120198951A1 (en) * 2011-02-07 2012-08-09 Schaeffler Technologies Gmbh & Co. Kg Spindle drive
CN104944098A (zh) * 2015-06-30 2015-09-30 深圳市全印图文技术有限公司 输送装置
CN106743033A (zh) * 2016-12-19 2017-05-31 金石机器人银川有限公司 可分类存取轮胎的中转料车及其使用方法
CN113816125A (zh) * 2021-10-12 2021-12-21 南京科远智慧科技集团股份有限公司 一种用于集装箱旋锁自动拆装的系统
US20220144562A1 (en) * 2019-03-29 2022-05-12 Yamaha Hatsudoki Kabushiki Kaisha Linear conveyor system, control method for linear conveyor system, control program for linear conveyor system and storage medium
US11396429B2 (en) 2018-07-05 2022-07-26 Hirata Corporation Conveyance device, driven unit, auxiliary unit, and pallet
CN117805418A (zh) * 2024-02-29 2024-04-02 山东康华生物医疗科技股份有限公司 一种反应盘抓取反应杯装置

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JPS6246806A (ja) * 1985-08-26 1987-02-28 Yoshino Kogyosho Co Ltd 搬送装置とその駆動方法
JPH0356138Y2 (enrdf_load_stackoverflow) * 1986-04-04 1991-12-16
CN107934422B (zh) * 2017-11-24 2019-11-22 醴陵市绿源商贸有限公司 一种循环输送托盘的传动结构
CN110759020B (zh) * 2019-12-02 2024-07-09 中冶焦耐(大连)工程技术有限公司 一种台车行程终端防碰撞安全保护系统
CN113247559A (zh) * 2021-06-02 2021-08-13 安徽巨一科技股份有限公司 一种重力积放链系统

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CN104944098B (zh) * 2015-06-30 2017-05-17 深圳市全印图文技术有限公司 输送装置
CN106743033A (zh) * 2016-12-19 2017-05-31 金石机器人银川有限公司 可分类存取轮胎的中转料车及其使用方法
CN106743033B (zh) * 2016-12-19 2022-12-23 金石机器人银川有限公司 可分类存取轮胎的中转料车及其使用方法
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CN113816125A (zh) * 2021-10-12 2021-12-21 南京科远智慧科技集团股份有限公司 一种用于集装箱旋锁自动拆装的系统
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